KR20170005079A - Method and system for the adaptation of the speed of a vehicle when taking a curve - Google Patents

Abstract

The present invention relates to a method for adaptation of the speed of a vehicle to a curve. The method comprises the steps of controlling the speed of the vehicle based on the rate of change of the angle of the steering wheel position and in this case limiting the increase of the maximum permissible instantaneous speed only when the rate of change of the angle has fallen below a pre- (S1) of limiting the increase so as to allow an increase up to < RTI ID = 0.0 > The present invention also relates to a system for adaptation of the speed of a vehicle during running on a curve. The present invention also relates to a motor vehicle. The present invention also relates to computer programs and computer program products.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method and system for adapting a vehicle speed at a curve,

The present invention relates to a method for adaptation of the speed of a vehicle during running on a curve, according to the introduction of claim 1. The present invention relates to a system for adaptation of the speed of a vehicle during running on a curve. The present invention also relates to a motor vehicle. The present invention also relates to computer programs and computer program products.

During operation of heavy vehicles on curved and curved roads, the driver needs to pay attention to the geometry of the road and to adapt the speed in order to safely operate the vehicle. Due to the curvature of the road, it may be difficult for the driver to anticipate the road ahead for safe driving of the vehicle and take precautions sufficiently in advance.

DE 10258167 and EP 2492160 describe a method for controlling the speed of a vehicle before a curve, based on the shape of the curve and the position of the vehicle.

During operation of the vehicle within the curve, the acceleration of the vehicle within the curve may cause excessive lateral acceleration, thereby causing the vehicle to move off the road or accidentally into a neighboring vehicle. As a result, it is possible for the driver to control the cruise control by a preset cruise-control speed (e.g., by the driver pressing the accelerator) or by a cruise-control system, Accelerations within a curve can cause accidents if acceleration occurs within the curve by unintentional resumption of the cruise-control system within the roundabout.

It is an object of the present invention to achieve a method and system for vehicle speed adaptation that enables an improvement in safety with respect to running on a curve.

These and other objects, which will become apparent from the following description, are achieved by means of a method, a system, a motor vehicle, a computer program and / or a method of the type described in the opening paragraph of the appended claims, Computer program product. Preferred embodiments of the method and system are defined in the dependent claims of the appended claims.

According to the invention, the object is to limit the speed of the vehicle on the basis of a rate of change of the angle of the steering wheel position, for the adaptation of the speed of the vehicle at the time of running on the curve, Limits the raising of the maximum permitted instantaneous speed to a predetermined value only when the rate of change of the angle has fallen below the pre-determined value, The method comprising the steps of: In this case, the vehicle can be prevented from being accelerated too much during the S-bend path between the first curve and the second curve. In this case, the safety at the time of running along the curved road is further improved. In this case, it is also prevented that the driver is allowed to accelerate too heavily in the curve or to restore the pre-set cruise-control speed. As a result, the safety of the curve is improved, and the risk of slipping on the curve or getting out of the way is reduced. With such a solution, even if there is no map data or corresponding means to determine the degree of curvature required for adaptation of the speed along the path of the vehicle at the time of running on the curve, Can be achieved.

According to one embodiment, the method includes allowing an increase in the maximum permissible instantaneous velocity only at a prescribed time after the rate of change of the angle has fallen below a pre-determined value. In this case, by preventing the vehicle from accelerating too early after the first curve, it is prevented from having a sufficient time for the vehicle to accelerate too heavily in the subsequent second curve.

According to one embodiment of the method, the step of limiting the rise of the maximum permissible instantaneous velocity based on the rate of change of the angle of the steering wheel position is carried out only for the change of the steering wheel position exceeding the pre-determined size. In this case, the speed is prevented from being unnecessarily limited during small changes in the steering wheel position.

According to one embodiment, the method includes controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to the determined turning radius such that the pre-determined lateral acceleration is not exceeded. In this case, it is prevented that the driver is allowed to accelerate too heavily in the curve or to restore the pre-set cruise-control speed.

According to one embodiment of the method, as the vehicle parameter, the pre-determined lateral acceleration, the steering wheel angle, the effective wheelbase, the gear ratio of the steering and the understeer slope of the vehicle, gradient based on the maximum allowed instantaneous velocity. A more accurate determination of the relevant turning radius of the vehicle is made possible in this way, thus improving the criteria for the control of the speed of the vehicle during vehicle travel along the curve.

Embodiments of the system represent corresponding advantages in corresponding embodiments of the method described above.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals refer to like parts throughout the several views.
1 schematically shows a motor vehicle according to one embodiment of the present invention.
Figure 2 schematically shows a system for adaptation of the speed of a vehicle during running on a curve, according to one embodiment of the present invention.
3 schematically shows a block diagram of a method for adapting the speed of a vehicle during running on a curve, according to one embodiment of the present invention.
Figure 4 schematically shows a computer according to one embodiment of the present invention.

As used herein, the term "link" refers to a physical line such as an opto-electronic communication line or a communication that may be a wireless connection, for example a non-physical circuit such as a radio link or a microwave link Link.

As used herein, the term " effective wheelbase " refers to the actual distance between axles of a vehicle that most closely corresponds to a simply represented two-axled vehicle. The term " effective wheel "includes a simplification of reality. For a two-axle truck, the effective wheelbase is equal to the wheelbase, i.e. the distance between the axles. In addition, in the case of a vehicle including a support axle at a certain distance from the rear driving axle, the effective wheelbase is changed to a position between the supporting axle and the driving axle, The size of the effective wheelbase depends on several factors such as the distribution of the weight, whether the support axle is being manipulated, and so on. The purpose of the effective wheeling is to allow a vehicle with multiple axles to be considered as a two-axle type vehicle, in order to simplify the calculation of the dynamics according to the cycle model.

1 schematically shows a motor vehicle 1 according to one embodiment of the present invention. For example, the vehicle 1 may be a large-sized vehicle in the form of a lorry. Alternatively, the vehicle may be comprised of any suitable vehicle, such as a bus or an automobile. The vehicle comprises a system I according to the invention.

Figure 2 schematically shows a block diagram of a system I for adaptation of the speed of the vehicle during running on a curve, in accordance with one embodiment of the present invention.

The system I includes an electronic control unit 100.

The system I controls the speed of the vehicle based on the rate of change of the angle of the steering wheel position and in this case limits the increase of the maximum permissible instantaneous speed only when the rate of change of the angle has fallen below the pre- And means (110) for limiting the increase so that the increase is allowed to a determined extent. The means 110 for limiting the speed of the vehicle includes means for limiting the rise in the maximum permissible instantaneous velocity based on the rate of change of the angle of the steering wheel position accordingly.

Means 110 for limiting the speed of the vehicle based on the rate of change of the angle of the steering wheel position and limiting the rise of the maximum permissible instantaneous velocity in this case comprises means 112 for determining the rate of change of the angle of the steering wheel position. Means 112 for determining the rate of change of the angle of the steering wheel position includes means for derivation capable of filtering the steering wheel angle.

Means 112 for determining the rate of change of the angle of the steering wheel position includes means 112a for determining the magnitude of the steering wheel position. The system I comprises in this case means 112a for determining the size of the steering wheel position and the size of the steering wheel position is determined, for example, by a steering wheel angle sensor.

Means (110) for limiting the rise of the maximum permissible instantaneous velocity based on the rate of change of the angle of the steering wheel includes means (114) for limiting the increase only for the steering wheel position exceeding a predetermined magnitude.

The system I includes means 120 for allowing an increase in the maximum permissible instantaneous velocity only at a prescribed time after the rate of change of the angle has fallen below a pre-determined value. The means (120) for allowing the rise of the maximum permissible instantaneous velocity only at a prescribed time after the rate of change of the angle has fallen below the pre-determined value is characterized in that the time during the pre-determination period after the rate of change of the angle decreases below the pre- And means for determining the time until the rate of change of the angle reaches or exceeds the pre-determined value again after the rate of change of the angle has fallen below the pre-determined value.

The system (I) includes means (140) for controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to the determined turning radius such that the pre-determined lateral acceleration is not exceeded.

The means for controlling the speed of the vehicle determines the maximum permissible instantaneous speed based on the pre-determined lateral acceleration, the steering wheel angle, the effective wheelbase, the gear ratio of the steering as well as the understeer gradient of the vehicle as needed Means 140a.

The means 140a for determining the maximum permissible instantaneous velocity includes means 141 for determining a maximum permissible lateral acceleration a _lat . The means for determining the maximum permissible lateral acceleration 141 may comprise means for determining the maximum permissible lateral acceleration of the vehicle such as the length of the vehicle, the width of the vehicle, the composition of the vehicle train, the center of gravity of the vehicle, The pre-determined maximum allowable lateral acceleration based on the normal conditions for the characteristics of the surrounding environment such as the effective width of the traffic lane, the friction characteristics of the road, the visibility condition and the camber property of the road ≪ / RTI > The pre-determined maximum permissible lateral acceleration, according to one embodiment, is 2 m / s ² in size. The maximum allowable lateral acceleration is constituted by the pre-determined maximum permissible lateral acceleration in this case. According to one alternative or complementary variant, the electronic control unit 100 comprises storage data of the maximum permissible lateral acceleration.

The means 140a for determining the maximum permissible instantaneous velocity includes means 142 for determining the steering wheel angle [delta]. The means 142 for determining the steering wheel angle is arranged for continuous determination of the steering wheel angle. The means 142 for determining the steering wheel angle includes sensor means in the form of a steering wheel angle sensor for determining the position of the steering wheel corresponding to the predetermined steering wheel angle.

The means 140a for determining the maximum permissible instantaneous velocity comprises means 143 for determining the effective wheelbase L. [ The means 143 for determining the effective wheelbase determines the effective wheelbase based on the distance between the wheel axles, the number of wheel axles, the presence thereof, and the presence and extent of support axles, if a bogie is involved, Includes determining the position of the axle, i.e., the characteristics of the vehicle including whether the support wheels of the support axle are allowed to interact with the road or whether the support wheel is raised so as not to contact the road. The effective wheelbase is evaluated based on, among other things, the axle separation, the viewing distance, the number of axles, the distribution of loads, whether the support axle is raised or the like. According to one alternative or complementary variant, the electronic control unit 100 comprises stored data of the valid frame.

The means 140a for determining the maximum permissible instantaneous speed includes means 144 for determining the gear ratio (i _L ) of the steering. The means 144 for determining the gear ratio of the steering includes, according to one variant, storage data relating to gear ratios which are conventionally known. The means for determining the gear ratio of the steering includes sensor means for determining the gear ratio of the steering by measuring the input and output change rates of the steering wheel angles. According to one alternative or complementary variant, the electronic control unit 100 comprises storage data of the gear ratio of the steering.

Means (140a) for determining a maximum permitted instantaneous velocity comprises a means 145 for determining the understeer gradient (K _us) of the vehicle. The means 145 for determining the understeer gradient of the vehicle includes sensor means and a computation model for determining the understeer gradient of the vehicle, and in that model, in particular the steering wheel angle, the effective wheelbase, the vehicle speed, The understeer gradient is determined based on the input and output change rates, the gear change speeds, and the road curvature. According to one alternative or complementary variant, the electronic control unit 100 comprises stored data of the understeer gradient of the vehicle.

The means 140a for determining the maximum permissible instantaneous speed based on the pre-determined lateral acceleration as the vehicle parameter, the steering wheel angle, the effective wheelbase, the gear ratio of the steering and the understeer gradient of the vehicle as required, To determine an allowable instantaneous speed.

From here,

a _lat = desired maximum absolute lateral acceleration, that is, the maximum allowable lateral acceleration

L = effective memory

δ = steering wheel angle

i _L = gear ratio of steering

_Kus = understeer gradient of the vehicle

The system I comprises means 130 for continuously determining the speed of the vehicle. The means 130 for continuously determining the speed of the vehicle comprises, according to one variant, a speed measuring means.

The electronic control unit 100 is connected via the link 12 to exchange signals with the means 112 for determining the rate of change of the angle of the steering wheel position. The electronic control unit 100 sends a signal indicating the rate of change of angles of the angle of the steering wheel position including the data on the magnitude of the steering wheel position from the means 112a to the means 112 via the link 12, Lt; / RTI >

The electronic control unit 100 is connected to exchange signals via the link 14 with the means 114 for limiting the instantaneous increase in the maximum permissible instantaneous velocity only when the steering wheel position exceeds the pre-determined magnitude. The electronic control unit 100 is configured to receive a signal indicative of limiting data from the means 114 via the link 14 to limit the increase only when the steering wheel position exceeds the pre-determined magnitude.

The electronic control unit 100 is connected via the link 20a to the means 120 that allows an increase in the maximum permissible instantaneous velocity only at a prescribed time after the rate of change of the angle has fallen below the pre-determined value. The electronic control unit 100 is configured to transmit, via the link 20a, to the means 120 a signal indicating the angular rate of change data regarding the rate of angular change of the steering wheel including data on the size of the steering wheel position.

The electronic control unit 100 is connected to the means 120 for permitting the increase of the maximum permissible instantaneous speed only at a prescribed time after the rate of change of the angle has fallen below the pre- do. The electronic control unit 100 is configured to receive, via the link 20b from the means 120, a signal indicative of time data relating to the time while the rate of change of the angle is less than the pre-determined value at the predetermined driving position.

The electronic control unit 100 controls the speed so that an increase up to a determined degree is allowed only when the rate of change of the angle has fallen below the pre-determined value, based on the rate of change of the angle of the steering wheel position, Is connected via link (10a) to exchange signals with means (110) for limiting an increase in permissive instantaneous speed. The electronic control unit 100 transmits, via the link 10a, the angular rate of change data relating to the rate of change of the position of the steering wheel position including the data about the size of the position of the position of the steered wheel and a signal indicating the time of such angular rate of change, .

The electronic control unit 100 controls the speed of the vehicle so that an increase to the determined degree is allowed only when the rate of change of the angle has fallen below the pre-determined value, based on the rate of change of the position of the steering wheel position (10b) to exchange signals with means (110) for limiting the increase of the maximum permissible instantaneous speed. The electronic control unit 100 is configured to receive, via the link 10b from the means 110, a signal indicative of limiting data for limiting the rate of change of angular rate based on the angular rate of change data.

The electronic control unit 100 is connected via the link 30 to exchange signals with the means 130 for continuously determining the speed of the vehicle. The electronic control unit 100 is configured to receive, via the link 30 from the means for successively determining the speed of the vehicle 130, a signal indicative of speed data relating to the current vehicle speed.

The electronic control unit (100) includes a link (40a) for exchanging signals with means (140) for controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to the determined turning radius so that the pre- Lt; / RTI > The electronic control unit 100 is configured to transmit, via the link 40a, a signal indicating the control data for controlling the speed of the vehicle to the means 140. [

The electronic control unit 100 includes a means 40 for controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to the determined turning radius so that the pre-determined lateral acceleration is not exceeded, Lt; / RTI > The electronic control unit 100 is configured to receive, via the link 40b from the means 140, a signal indicative of steering wheel angle data corresponding to a determined turning radius of the vehicle.

The electronic control unit 100 includes means for determining a maximum permissible instantaneous speed based on the pre-determined lateral acceleration, the steering wheel angle, the effective wheelbase, the gear ratio of the steering and the understeer gradient of the vehicle as required, Lt; RTI ID = 0.0 > 140a. ≪ / RTI > The electronic control unit 100 determines whether or not the lateral acceleration data relating to the pre-determined lateral acceleration, the steering wheel angle data relating to the current steering wheel angle, the data concerning the effective steering, the data concerning the gear ratio of the steering, Via the link (40), from the means (140) a signal indicative of parameter data including data relating thereto.

In this case, the electronic control unit 100 determines whether the angle change rate of the steering wheel position including data relating to the size of the steering wheel position is greater than the pre-determined speed of the steering wheel position , The limiting data for limiting the increase only to the steering wheel position exceeding the pre-determined size, and the time-based reference value for the time during which the angular rate of change is less than the pre-determined value at the steering wheel position of a predetermined size, Based data and in such a case is configured to transmit the limiting data for rate limiting during consecutive pre-determination times after the rate of change of angles has fallen below a pre-determined value.

In this case, the electronic control unit (100) determines, in this case, the steering wheel angle data corresponding to the determined turning radius of the vehicle so as to determine the control data for controlling the speed of the vehicle so that the pre- The data relating to the gear ratio of the steering, and the data relating thereto when the understeer gradient is involved, as well as the lateral acceleration data relating to the pre-determined lateral acceleration, the steering wheel angle data relating to the current steering wheel angle, Data, and the speed data.

Fig. 3 schematically shows a block diagram of a method for adaptation of the speed of a vehicle in running on a curve, according to one embodiment of the invention.

According to one embodiment, the method for adaptation of the speed of the vehicle at the time of traveling on a curve includes step S1. At this stage, based on the rate of change of the position of the steering wheel position, the speed of the vehicle is controlled so that an increase up to a determined degree is only allowed when the rate of change of angles has fallen below the pre-determined value, The increase is limited.

Referring to FIG. 4, a design drawing of an arrangement 500 is shown. The control unit 100 described in connection with FIG. 2 may include an apparatus 500, in one embodiment. The apparatus 500 includes a non-transient memory 520, a data processing unit 510, and a read / write memory 550. Non-volatile memory 52 includes a first section 530 of memory in which a computer program, such as an operating system, is stored for functional control of the apparatus 500. The device 500 also includes a bus controller, a parallel communication port, an I / O unit, an A / D converter, a unit for input and transmission of time and date, an event counter, and an interrupt controller (Not shown in the figure). Non-volatile memory 520 also includes a second partition 540 of memory.

There is provided a computer program P comprising a routine for adaptation of the speed of the vehicle at the time of traveling to a curve according to the present invention. The program P controls the speed of the vehicle so that an increase up to a determined degree is allowed only when the rate of change of angles has fallen below a pre-determined value, based on the rate of change of the position of the steering wheel position, And includes routines that limit the increase in speed. The program P may be stored in the memory 560 and / or the read / write memory 550 in an executable or compressed form.

It is to be appreciated that if data processing unit 510 is described as executing a certain function it may be stored in memory 560 by a data processing unit 510. The data processing unit 510 may be a part of a program stored in memory 560 or a predetermined portion of a program stored in read / ≪ / RTI >

The data processing unit 510 can communicate with the data port 599 via the data bus 515. [ Non-volatile memory 520 is configured to communicate with data processing unit 510 via data bus 512. A separate memory 560 is configured to communicate with the data processing unit 510 via the data bus 511. The read / write memory 550 is arranged to communicate with the data processing unit 510 via the data bus 514. The links associated with the control unit 100 may, for example, be connected to a data port 599.

When data is received on the data port 599, it is temporarily stored in the second partition 540 of the memory. Once the received data is temporarily stored, the data processing unit 510 is ready for execution of the code in the manner described above. Based on the rate of change of the position of the steering wheel position, it is possible to control the speed of the vehicle so as to allow an increase to a determined degree only when the rate of change of angular rate decreases below a pre-determined value, The signal received at the data port 599 may be used by the device 500.

Some of the methods described herein may be implemented by the device 500 with the aid of a data processing unit 510 that executes a program stored in the memory 560 or the read / write memory 550. When the device 550 launches the program, the present method described herein is implemented.

The foregoing description of the preferred embodiments of the present invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Various modifications and alterations will be apparent to those skilled in the art. In order that the principles and practical applications of the present invention may be best understood by those of ordinary skill in the art, various modifications may be made thereto without departing from the spirit and scope of the present invention. .

Claims (13)

1. A method for adaptation of the speed of a vehicle (1)
Based on the rate of change of the angle of the steering wheel position, it is possible to control the speed of the vehicle and in this case to limit the increase of the maximum permissible instantaneous speed, but only when the rate of change of the angle has fallen below the pre- (S1) for limiting the increase so as to be allowed, if the vehicle speed is greater than a predetermined value. The method according to claim 1,
Permitting an increase in the maximum permissible instantaneous velocity only at a prescribed time after the rate of change of the angle has fallen below a pre-determined value. The method according to claim 1 or 2,
Characterized in that the step of limiting the increase of the maximum permissible instantaneous velocity based on the rate of change of the angle of the steering wheel position is carried out only for the steering wheel position exceeding the pre-determined magnitude. The method according to any one of claims 1 to 3,
And controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to the determined turning radius so that the pre-determined lateral acceleration is not exceeded. The method of claim 4,
The step of controlling the speed of the vehicle based on the steering wheel angle comprises the steps of: determining, based on the pre-determined lateral acceleration, the steering wheel angle, the effective wheelbase, the gear ratio of the steering and the understeer gradient of the vehicle, And determining an instantaneous speed of the vehicle. In a system (I) for adaptation of the speed of the vehicle (1) at the time of running on a curve,
Based on the rate of change of the angle of the steering wheel position, it is possible to control the speed of the vehicle and in this case to limit the increase of the maximum permissible instantaneous speed, but only when the rate of change of the angle has fallen below the pre- Characterized in that it comprises means (110) for limiting the increase so as to be allowed. The method of claim 6,
And means (120) for permitting an increase in the maximum permissible instantaneous velocity only at a prescribed time after the rate of change of the angle has fallen below a pre-determined value. The method according to claim 6 or 7,
Characterized in that the means (110) for limiting the increase of the maximum permissible instantaneous velocity based on the rate of change of the angle of the steering wheel position limits the increase only for the steering wheel position exceeding the pre-determined magnitude, For the system. The method according to any one of claims 6 to 8,
Characterized in that it comprises means (140) for controlling the speed of the vehicle based on the steering angle of the vehicle corresponding to the determined turning radius so that the pre-determined lateral acceleration is not exceeded. The method of claim 9,
The means (140) for controlling the speed of the vehicle on the basis of the steering angle of the vehicle, comprises means for determining the vehicle speed based on the pre-determined lateral acceleration, the steering wheel angle, the effective wheelbase, the gear ratio of the steering and, And means (140a) for determining a maximum permissible instantaneous velocity on the basis of the maximum permissible instantaneous velocity. As the vehicle 1,
A vehicle characterized by comprising a system (I) according to any one of claims 6 to 10. A computer program (P) for adapting the speed of a vehicle at a curve,
The electronic control unit 100 executes the method according to any one of claims 1 to 5 when it is executed in the electronic control unit 100 or by a separate computer 500 connected to the electronic control unit 100 Said computer program code comprising: A computer program product comprising a digital storage medium storing a computer program according to claim 12.

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